#ifndef VISUALIZATION_H_
#define VISUALIZATION_H_

#include <ros/ros.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <string>
#include <visualization_msgs/Marker.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/PointCloud.h>
#include "sdd_vio/utils/math_utils.h"

namespace sdd_vio
{
    void visualize_points(ros::Publisher &pub_pts, const vector_aligned<Eigen::Vector3f> &feat_3D);

    void visualize_cams(ros::Publisher &pub_cam, ros::Publisher &pub_cam_poseStamped,
                        const Eigen::Isometry3f &T, const Eigen::Vector3f &v, ros::Time &timestamp, double seq);

}

#endif
